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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(lidar_slam)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_BUILD_TYPE Release)
# work around for proj4
set({PROJ4_LIBRARIES proj)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
sensor_msgs
roscpp
rospy
std_msgs
tf
nodelet
map_msgs
)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenMP REQUIRED)
if(OPENMP_FOUND)
set(OpenMP_LIBS gomp)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
find_package(OpenCV REQUIRED)
#find_package(PROJ4 REQUIRED)
#include_directories(${PROJ4_INCLUDE_DIR})
find_package(yaml-cpp REQUIRED)
link_libraries(${YAML_CPP_LIBRARIES})
INCLUDE(cmake_modules/FindG2O.cmake)
#find_package(G2O REQUIRED)
include_directories(SYSTEM ${G2O_INCLUDE_DIR} ${G2O_INCLUDE_DIRS})
link_directories(${G2O_LIBRARY_DIRS})
include_directories(
include
${catkin_INCLUDE_DIRS}
#${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
src)
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs hdmap_msgs
DEPENDS EIGEN3 PCL OpenCV
LIBRARIES loam
)
add_definitions( -march=native )
add_subdirectory(src/scan_to_scan_match)
add_subdirectory(src/odometry)
add_subdirectory(src/pose_graph)
add_subdirectory(src/io)
add_subdirectory(src/kf_fusion)
add_subdirectory(src/map_evaluation)
#add_subdirectory(src/tests)